Automated endoscope system for optimal positioning

Abstract

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to an articulate arm which can move the endoscope relative to the patient. The articulate arm can be located within a first coordinate system, the end effector may be located in a second coordinate system and the surgical instrument may be located within a third coordinate system. The system includes a computer which controls the movement of the robotic arm in response to input commands received from an input device such as the foot pedal. The controller may perform a software routine that computes the movement of the articulate arm and end effector in response to the input commands. The software routine may utilize transformation functions to transfer movement of the instrument from one coordinate system to another coordinate system. The surgical instrument may be an endoscope that is coupled to a video monitor. The monitor may display an organ of a patient. Movement of the articulate arm allows the surgeon to view different areas of the patient.

What is claimed is: 
     
       1. A system that allows a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, comprising: an articulate arm that has an end effector which holds the surgical instrument, and an active joint to move said end effector, said articulate arm further having a first passive joint which allows the surgical instrument to pivot about the pivot point, said articulate arm being located within a first coordinate system which has a first x axis, a first y axis and a first z axis, said end effector being located within a second coordinate system which has a second x axis, a second y axis and a second z axis, the surgical instrument being located within a third coordinate system which has a third x axis, a third y axis and a third z axis;   a first input device that receives an input command from the surgeon to move the surgical instrument a moving distance in the third coordinate system; and,   a controller that receives said input command, computes a movement of said articulate arm by computing a moving distance of the surgical instrument in the second coordinate system from the moving distance commanded in the third coordinate system, and computing a moving distance of said articulate arm in the first coordinate system from the moving distance computed in the second coordinate system, said controller provides an output command to actuate said articulate arm to move the surgical instrument the computed moving distance in the first coordinate system.   
     
     
       2. The system as recited in claim 1, wherein the moving distance of the surgical instrument in the second coordinate system is computed in accordance with the following transformation matrix: ##EQU8## wherein; Δx"=an movement of an end of the surgical instrument along the third x axis, Δy"=an movement of the end of the surgical instrument along the third y axis,   Δz"=an movement of the end of the surgical instrument along the third z axis,   a5=an angle of the surgical instrument and a second x-z plane in the second coordinate system,   a6=an angle of the surgical instrument and a second y-z plane in the second coordinate system,   Δx'=a computed movement of said end effector along the second x axis,   Δy'=a computed movement of said end effector along the second y axis,   Δz'=a computed movement of said end effector along the second z axis.   
     
     
       3. The system as recited in claim 2, wherein the moving distance of the surgical instrument in the first coordinate system is computed in accordance with the following transformation matrix: ##EQU9## wherein; Δx=a computed movement of said end effector along the first x axis, Δy=a computed movement of said end effector along the first y axis,   Δz=a computed movement of said end effector along the first z axis,   π=a angle between said end effector and the first x axis.   
     
     
       4. The system as recited in claim 1, wherein said articulate arm has a second passive joint located between said active joint and said end effector. 
     
     
       5. The system as recited in claim 1, wherein said end effector has an actuator that spins the surgical instrument. 
     
     
       6. The system as recited in claim 1, wherein said active joint is a first rotary motor. 
     
     
       7. The system as recited in claim 6, wherein said articulate arm includes a second rotary motor. 
     
     
       8. The system as recited in claim 7, wherein said articulate arm includes a linear motor. 
     
     
       9. The system as recited in claim 1, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said end effector. 
     
     
       10. A system that allows a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the surgical instrument is coupled to a display device that displays an object, comprising: an articulate arm that has an end effector which holds the surgical instrument, and an active joint to move said end effector, said articulate arm further having a first passive joint which allows the surgical instrument to pivot about the pivot point, said articulate arm having an original position;   an input device that receives a command to move the surgical instrument in a desired direction relative to the object displayed by the display device; and,   a controller that receives said command to move the surgical instrument in the desired direction, computes a movement of said articulate arm based on said command and the original position of said articulate arm so that the surgical instrument moves in the desired direction, and provides output signals to said articulate arm to move said articulate arm said computed movement to move the surgical instrument in the desired direction commanded by the user about the pivot point.   
     
     
       11. The system as recited in claim 10, wherein said articulate arm has a second passive joint located between said active joint and said end effector. 
     
     
       12. The system as recited in claim 10, wherein said end effector has an actuator that spins the surgical instrument. 
     
     
       13. The system as recited in claim 10, wherein said active joint is a first rotary motor. 
     
     
       14. The system as recited in claim 13, wherein said articulate arm includes a second rotary motor. 
     
     
       15. The system as recited in claim 14, wherein said articulate arm includes a linear motor. 
     
     
       16. The system as recited in claim 10, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said end effector.